Stability Analysis for Learning Systems

The error between the desired and actual output of a single input, multiple output plant is used by a learning law to modify the input in order to reduce the output error. Lyapunov stability analysis is used to determine criteria for the learning law coefficients. The plant is assumed to be stable, linear and time invariant. Formulations include restrictions on the desired trajectory and Lyapunov candidate derived from the plant model. Sufficient conditions for stability are found and conjectured to also be necessary.